Evaluating the X2000: A Novel Integrated Platform for Rapid ADAS Development

In this work, we present the design and evaluation of the X2000, a new development kit created to simplify and accelerate research for advanced driver-assistance systems (ADAS). The X2000 is a complete ADAS development kit for the Ford Mach-E. It includes a forward-facing vehicle-mounted camera, vehicle-mounted AI computer, controller area network flexible data-rate (CAN-FD) and 12 V power connections, and a CAN-FD interface to the vehicle’s forward radar. Central to the kit is a novel ADAS software architecture designed for readability and extensibility. Included in the design are software modules for the following: (1) camera and radar interfacing; (2) image processing; (3) AI model inference; (4) data logging; (5) steering and velocity planning; (6) low-level vehicle controls for steering, acceleration, and braking; (7) lane centering visualization to the car’s 17-inch touchscreen. To build on a proven system, the X2000 integrates the AI model, planner, low-level controls, and radar interfacing software from Openpilot. We build on the excellent work of the Openpilot team while creating a highly simplified system. Openpilot features 17 software processes and 77 inter-process messages, while the X2000 uses 6 processes and 7 inter-process messages.